%%车辆参数
Ts=0.025;
tau = 0.05;
Cf = 42841.5;
Cr = 62015;
Iz = 3610;
BicycleMdlAxleDistFrnt = 1.193;
BicycleMdlAxleDistRear = 1.51;
VehLen = 4.779;
VehWidth = 1.862;
VehWhlBas = 2.7;
VehM = 1988;
m = VehM;
lf = BicycleMdlAxleDistFrnt;
lr = BicycleMdlAxleDistRear;
%%自车初始状态
x0_ego = 0.0;
y0_ego = 0.0;
yaw0_ego = 0.0;
v0_ego = 99/3.6;